#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#define pi 3.14159265358979323846

int main(int argc, char** argv) {
    ros::init(argc, argv, "write_o");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 10);

    geometry_msgs::Twist twist;

    twist.linear.x = 0;
    twist.angular.z = 0;
    pub.publish(twist);
    ros::Duration(0.5).sleep();

    twist.linear.x = 4;
    twist.angular.z = 2 * pi;
    pub.publish(twist);
    ros::Duration(1).sleep();

    return 0;
}